def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(self.__yprDeviationConstraints, SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
l_curYaw, l_curPitch = self.__worldYawPitchToTurret(self.__g_curYaw, self.__g_curPitch)
stabilizationOn = math.fabs(self._matrix.roll) < self.__stailizationLimit and SniperAimingSystem.__FILTER_ENABLED
if stabilizationOn:
l_curYaw, l_curNewPitch = self.__clampToLimits(l_curYaw, l_curPitch)
else:
l_curNewPitch = l_curPitch
if stabilizationOn:
newLocal = l_curPitch + (l_curNewPitch - l_curPitch)
newGunMat = AimingSystems.getPlayerGunMat(l_curYaw, newLocal)
new__g_curPitch = newGunMat.pitch
new__g_curPitch = self.__pitchfilter.update(new__g_curPitch, deltaTime)
globalDelta = new__g_curPitch - self.__g_curPitch
else:
globalDelta = l_curNewPitch - self.__idealPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
l_curYaw = self.__idealYaw + self.__oscillator.deviation.x
if stabilizationOn:
l_curPitch = l_curPitch + self.__oscillator.deviation.y
else:
l_curPitch = self.__idealPitch + self.__oscillator.deviation.y
l_curYaw, l_newCurPitch = self.__clampToLimits(l_curYaw, l_curPitch)
if not stabilizationOn:
globalDelta = l_newCurPitch - self.__idealPitch
l_curPitch = l_newCurPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(l_curYaw, l_curPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
return 0.0
def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(self.__yprDeviationConstraints, SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
l_curYaw, l_curPitch = self.__worldYawPitchToTurret(self.__g_curYaw, self.__g_curPitch)
stabilizationOn = math.fabs(self._matrix.roll) < self.__stailizationLimit and SniperAimingSystem.__FILTER_ENABLED
if stabilizationOn:
l_curYaw, l_curNewPitch = self.__clampToLimits(l_curYaw, l_curPitch)
else:
l_curNewPitch = l_curPitch
if stabilizationOn:
newLocal = l_curPitch + (l_curNewPitch - l_curPitch)
newGunMat = AimingSystems.getPlayerGunMat(l_curYaw, newLocal)
new__g_curPitch = newGunMat.pitch
new__g_curPitch = self.__pitchfilter.update(new__g_curPitch, deltaTime)
globalDelta = new__g_curPitch - self.__g_curPitch
else:
globalDelta = l_curNewPitch - self.__idealPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
l_curYaw = self.__idealYaw + self.__oscillator.deviation.x
if stabilizationOn:
l_curPitch = l_curPitch + self.__oscillator.deviation.y
else:
l_curPitch = self.__idealPitch + self.__oscillator.deviation.y
l_curYaw, l_newCurPitch = self.__clampToLimits(l_curYaw, l_curPitch)
if not stabilizationOn:
globalDelta = l_newCurPitch - self.__idealPitch
l_curPitch = l_newCurPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(l_curYaw, l_curPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
return 0.0
def update(self, deltaTime):
if self.__forceFullStabilization:
self.__oscillator.constraints = SniperAimingSystem.__STABILIZED_CONSTRAINTS
else:
self.__oscillator.constraints = mathUtils.matrixScale(self.__yprDeviationConstraints, SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
curTurretYaw, curGunPitch = self.__worldYawPitchToTurret(self.__worldYaw, self.__worldPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw, curGunPitch - self.__idealGunPitch, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
curTurretYaw = self.__idealTurretYaw + self.__oscillator.deviation.x
curGunPitch = self.__idealGunPitch + self.__oscillator.deviation.y
if self.__returningOscillator.deviation.y <= 0.0:
self.__returningOscillator.reset()
pitchOutOfBounds = self.__calcPitchExcess(curTurretYaw, curGunPitch)
if pitchOutOfBounds != 0.0:
self.__timeBeyondLimits += deltaTime
self.__adjustPitchLimitExtension(abs(pitchOutOfBounds))
if self.__timeBeyondLimits > SniperAimingSystem.__BEYOND_LIMITS_DELAY:
self.__returningOscillator.update(deltaTime)
else:
self.__returningOscillator.reset()
self.__timeBeyondLimits = 0.0
curTurretYaw, curGunPitch = self.__clampToLimits(curTurretYaw, curGunPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw, curGunPitch - self.__idealGunPitch, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = self.__getPlayerGunMat(curTurretYaw, curGunPitch)
self.__worldYaw = currentGunMat.yaw
self.__worldPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(
self.__yprDeviationConstraints,
SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
vehicleMat = Matrix(self.__vehicleMProv)
curTurretYaw, curGunPitch = self.__worldYawPitchToTurret(
self.__worldYaw, self.__worldPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw,
curGunPitch - self.__idealGunPitch, 0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
curTurretYaw = self.__idealTurretYaw + self.__oscillator.deviation.x
curGunPitch = self.__idealGunPitch + self.__oscillator.deviation.y
curTurretYaw, curGunPitch = self.__clampToLimits(
curTurretYaw, curGunPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw,
curGunPitch - self.__idealGunPitch, 0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(curTurretYaw,
curGunPitch)
self.__worldYaw = currentGunMat.yaw
self.__worldPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
self.__vehiclePrevMat = vehicleMat
return 0.0
def RandomNoiseOscillatorSpherical(mass,
stiffness,
drag,
scaleCoeff=Vector3(1.0, 1.0, 1.0),
restEpsilon=0.01):
randomFunc = lambda deviation, generator: matrixScale(
mathUtils.RandomVectors.random3(deviation, generator), scaleCoeff)
return RandomNoiseOscillator(mass, stiffness, drag, randomFunc,
restEpsilon)
def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(self.__yprDeviationConstraints, SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
vehicleMat = Matrix(self.__vehicleMProv)
curTurretYaw, curGunPitch = self.__worldYawPitchToTurret(self.__worldYaw, self.__worldPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw, curGunPitch - self.__idealGunPitch, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
curTurretYaw = self.__idealTurretYaw + self.__oscillator.deviation.x
curGunPitch = self.__idealGunPitch + self.__oscillator.deviation.y
curTurretYaw, curGunPitch = self.__clampToLimits(curTurretYaw, curGunPitch)
yprDelta = Vector3(curTurretYaw - self.__idealTurretYaw, curGunPitch - self.__idealGunPitch, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(curTurretYaw, curGunPitch)
self.__worldYaw = currentGunMat.yaw
self.__worldPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
self.__vehiclePrevMat = vehicleMat
return 0.0
def __calcForce(self):
return self.externalForce - matrixScale(self.deviation, self.stiffness) - matrixScale(self.velocity, self.drag)
def RandomNoiseOscillatorSpherical(mass, stiffness, drag, scaleCoeff = Vector3(1.0, 1.0, 1.0), restEpsilon = 0.01):
randomFunc = lambda deviation, generator: matrixScale(mathUtils.RandomVectors.random3(deviation, generator), scaleCoeff)
return RandomNoiseOscillator(mass, stiffness, drag, randomFunc, restEpsilon)
def __calcForce(self):
return self.externalForce - matrixScale(self.deviation,
self.stiffness) - matrixScale(
self.velocity, self.drag)
def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(self.__yprDeviationConstraints, SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
l_curYaw, l_curPitch = self.__worldYawPitchToTurret(self.__g_curYaw, self.__g_curPitch)
if self.__dInputYaw != 0.0 or self.__dInputPitch != 0.0:
if SniperAimingSystem.__FILTER_ENABLED:
wasInLimit, _ = self.__inLimit(l_curYaw, l_curPitch, True)
self.__g_curYaw += self.__dInputYaw
g_newPitch = self.__g_curPitch + self.__dInputPitch
l_newYaw, l_newPitch = self.__worldYawPitchToTurret(self.__g_curYaw, g_newPitch)
if self.__dInputYaw != 0.0:
self.__idealYaw, l_limPitch = self.__clampToLimits(l_newYaw, l_newPitch, True)
l_curYaw = self.__idealYaw
if math.fabs(l_limPitch - l_newPitch) > 1e-05:
self.__dInputPitch = l_limPitch - l_curPitch
g_newPitch = self.__g_curPitch + self.__dInputPitch
l_newPitch = l_limPitch
self.__idealPitch = l_limPitch
if self.__dInputPitch != 0.0:
inLimit, limPitch = self.__inLimit(self.__idealYaw, l_newPitch, True)
if not wasInLimit and not inLimit and math.fabs(l_newPitch) >= math.fabs(l_curPitch):
self.__pitchfilter.resetTimer()
else:
if wasInLimit and not inLimit:
self.__g_curPitch += limPitch - l_curPitch
l_curPitch = self.__idealPitch = limPitch
else:
self.__g_curPitch = g_newPitch
l_curPitch = self.__idealPitch = l_newPitch
if inLimit:
self.__pitchfilter.reset(self.__g_curPitch)
else:
self.__idealYaw, self.__idealPitch = self.__clampToLimits(l_curYaw + self.__dInputYaw, l_curPitch + self.__dInputPitch)
l_curYaw = self.__idealYaw
currentGunMat = AimingSystems.getPlayerGunMat(self.__idealYaw, self.__idealPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self.__oscillator.velocity = Vector3(0.0, 0.0, 0.0)
self.__dInputYaw = 0.0
self.__dInputPitch = 0.0
l_curNewPitch = self.__idealPitch
elif SniperAimingSystem.__FILTER_ENABLED:
l_curYaw, l_curNewPitch = self.__clampToLimits(l_curYaw, l_curPitch)
else:
l_curNewPitch = l_curPitch
if SniperAimingSystem.__FILTER_ENABLED:
new__g_curPitch = self.__g_curPitch + (l_curNewPitch - l_curPitch)
new__g_curPitch = self.__pitchfilter.update(new__g_curPitch, deltaTime)
globalDelta = new__g_curPitch - self.__g_curPitch
else:
globalDelta = l_curNewPitch - self.__idealPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
l_curYaw = self.__idealYaw + self.__oscillator.deviation.x
if SniperAimingSystem.__FILTER_ENABLED:
l_curPitch = l_curPitch + self.__oscillator.deviation.y
else:
l_curPitch = self.__idealPitch + self.__oscillator.deviation.y
l_curYaw, l_newCurPitch = self.__clampToLimits(l_curYaw, l_curPitch)
if not SniperAimingSystem.__FILTER_ENABLED:
globalDelta = l_newCurPitch - self.__idealPitch
l_curPitch = l_newCurPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(l_curYaw, l_curPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
return 0.0
def update(self, deltaTime):
self.__oscillator.constraints = mathUtils.matrixScale(
self.__yprDeviationConstraints,
SniperAimingSystem.__CONSTRAINTS_MULTIPLIERS)
l_curYaw, l_curPitch = self.__worldYawPitchToTurret(
self.__g_curYaw, self.__g_curPitch)
if self.__dInputYaw != 0.0 or self.__dInputPitch != 0.0:
if SniperAimingSystem.__FILTER_ENABLED:
wasInLimit, _ = self.__inLimit(l_curYaw, l_curPitch, True)
self.__g_curYaw += self.__dInputYaw
g_newPitch = self.__g_curPitch + self.__dInputPitch
l_newYaw, l_newPitch = self.__worldYawPitchToTurret(
self.__g_curYaw, g_newPitch)
if self.__dInputYaw != 0.0:
self.__idealYaw, l_limPitch = self.__clampToLimits(
l_newYaw, l_newPitch, True)
l_curYaw = self.__idealYaw
if math.fabs(l_limPitch - l_newPitch) > 1e-05:
self.__dInputPitch = l_limPitch - l_curPitch
g_newPitch = self.__g_curPitch + self.__dInputPitch
l_newPitch = l_limPitch
self.__idealPitch = l_limPitch
if self.__dInputPitch != 0.0:
inLimit, limPitch = self.__inLimit(self.__idealYaw,
l_newPitch, True)
if not wasInLimit and not inLimit and math.fabs(
l_newPitch) >= math.fabs(l_curPitch):
self.__pitchfilter.resetTimer()
else:
if wasInLimit and not inLimit:
self.__g_curPitch += limPitch - l_curPitch
l_curPitch = self.__idealPitch = limPitch
else:
self.__g_curPitch = g_newPitch
l_curPitch = self.__idealPitch = l_newPitch
if inLimit:
self.__pitchfilter.reset(self.__g_curPitch)
else:
self.__idealYaw, self.__idealPitch = self.__clampToLimits(
l_curYaw + self.__dInputYaw,
l_curPitch + self.__dInputPitch)
l_curYaw = self.__idealYaw
currentGunMat = AimingSystems.getPlayerGunMat(
self.__idealYaw, self.__idealPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self.__oscillator.velocity = Vector3(0.0, 0.0, 0.0)
self.__dInputYaw = 0.0
self.__dInputPitch = 0.0
l_curNewPitch = self.__idealPitch
elif SniperAimingSystem.__FILTER_ENABLED:
l_curYaw, l_curNewPitch = self.__clampToLimits(
l_curYaw, l_curPitch)
else:
l_curNewPitch = l_curPitch
if SniperAimingSystem.__FILTER_ENABLED:
new__g_curPitch = self.__g_curPitch + (l_curNewPitch - l_curPitch)
new__g_curPitch = self.__pitchfilter.update(
new__g_curPitch, deltaTime)
globalDelta = new__g_curPitch - self.__g_curPitch
else:
globalDelta = l_curNewPitch - self.__idealPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
self.__oscillator.update(deltaTime)
l_curYaw = self.__idealYaw + self.__oscillator.deviation.x
if SniperAimingSystem.__FILTER_ENABLED:
l_curPitch = l_curPitch + self.__oscillator.deviation.y
else:
l_curPitch = self.__idealPitch + self.__oscillator.deviation.y
l_curYaw, l_newCurPitch = self.__clampToLimits(l_curYaw, l_curPitch)
if not SniperAimingSystem.__FILTER_ENABLED:
globalDelta = l_newCurPitch - self.__idealPitch
l_curPitch = l_newCurPitch
yprDelta = Vector3(l_curYaw - self.__idealYaw, globalDelta, 0.0)
self.__oscillator.deviation = yprDelta
currentGunMat = AimingSystems.getPlayerGunMat(l_curYaw, l_curPitch)
self.__g_curYaw = currentGunMat.yaw
self.__g_curPitch = currentGunMat.pitch
self._matrix.set(currentGunMat)
return 0.0